美国LinMot直线电机用户手册-

UserManualRel.1.0Tel.:+41(014452282Fax:+41(014452281Email:office@Homepage:LinMotSulzerElectronicsAGTechnoparkstrasse1CH-8005Zürich©1999SulzerElectronicsAGThisworkisprotectedbycopyright.Underthecopyrightlaws,thispublicationmaynotbereproducedortransmittedinanyform,electronicormechanical,includingphotocopying,recording,microfilm,storinginaninformationretrievalsystem,notevenfordidacticaluse,ortranslating,inwholeorinpart,withoutthepriorwrittenconsentofSulzerElectronicsAG.LinMot®isaregisteredtrademarkofSulzerElectronicsAG.NoteTheinformationinthisdocumentationreflectsthestageofdevelopmentatthetimeofpressandisthereforewithoutobligation.SulzerElectronicsreservesitselftherighttomakechangesatanytimeandwithoutnoticetoreflectfurthertechnicaladvanceorproductimprovement.Pleaserefertothelatesteditionofour“Generalbusinessterms”Version1.01/Rev.3October8th19991.Introduction__________________________________________1-11.1Usedsymbols__________________________________________1-22.Safetynotes__________________________________________2-12.1Installation____________________________________________2-23.SystemOverview_______________________________________3-13.1DrivesystemLinMot®___________________________________3-13.1.1Actuator:LineardriveLinMot®P___________________________3-23.1.2Actuator:steppermotorLinMot®Step________________________3-23.1.3Actuator:electromagnetLinMot®Magnet_____________________3-23.2LinMot®P:anewconstructionelement____________________3-23.3SubstitutionpossibilitiesofLinMot®P_____________________3-33.4TechnicalpropertiesofLinMot®P________________________3-43.5ApplicationfieldsofLinMot®P___________________________3-43.6DrivingandoperatingmodesofLinMot®___________________3-53.6.1Drivingconcept__________________________________________3-53.6.2Operationmodes_________________________________________3-53.6.3Connectiontohigher-levelcontrolsystems____________________3-83.7Protectionanderrorbehavior____________________________3-93.7.1Internalprotectionfunctions________________________________3-93.7.2Monitoringfunctions_____________________________________3-93.7.3Emergencystoppossibilities________________________________3-93.7.4Emergencystopthroughsupplyinterruption___________________3-93.8Operationandconfiguration____________________________3-103.8.1Systemconfiguration____________________________________3-103.8.2Curvegeneration________________________________________3-113.8.3Monitoringfunction(digitalOscilloscope___________________3-123.8.4Errorlogbook__________________________________________3-133.9Customerspecificapplications___________________________3-144.DesignandInstallation_________________________________4-14.1Operatingmodes_______________________________________4-14.1.1Analogpositionsetting____________________________________4-24.1.2Analogcurrentsetting____________________________________4-34.1.3Twopointrun___________________________________________4-34.1.4Runningreferencecurves__________________________________4-44.1.5Setvaluesthroughtheserialinterface________________________4-54.2Operatingstates_______________________________________4-64.2.1Operatingstate“Setup”___________________________________4-74.2.2Operatingstate“WaitforDisable”___________________________4-74.2.3Operatingstate“Disable”__________________________________4-74.2.4Operatingstate“DriveInit”________________________________4-74.2.5Operatingstate“Run”_____________________________________4-84.2.6Operatingstate“Stop”____________________________________4-84.2.7Operatingstate“Error”____________________________________4-84.3Positionmonitoring_____________________________________4-94.3.1Followingerrormonitoring________________________________4-94.3.2Positionrangemonitoring________________________________4-104.4Initialization__________________________________________4-114.4.1LinearmotorsoftheLinMot®Pseries_______________________4-114.4.2Steppermotors_________________________________________4-134.5Signalinterfaces______________________________________4-144.5.1SYS1interface_________________________________________4-144.5.2SYS2connector_________________________________________4-164.5.3COMconnector_________________________________________4-174.6Actuatorinterfaces____________________________________4-184.6.1ConnectionofLinMot®Plinearmotors______________________4-184.6.2Connectingsteppermotors________________________________4-194.6.3Connectinginductiveloads________________________________4-194.7Connectingthepowersupply____________________________4-204.7.1E100/E200/E400supply__________________________________4-204.7.2E1000/E2000/E4000supply_______________________________4-214.8HWconfigurationoftheelectronicunits__________________4-234.8.1Signalboardconfiguration________________________________4-234.9Mechanicalinstallation_________________________________4-254.10Constructivenotesontheinstallationofthelinearmotors____4-265.ConfigurationSoftware_________________________________5-15.1Installationrequirements________________________________5-15.2Installationoftheconfigurationsoftware___________________5-25.3Introduction___________________________________________5-35.4Login________________________________________________5-35.5Commander___________________________________________5-45.6ControlPanel_________________________________________5-45.7ParameterInspector____________________________________5-55.7.1Editingtheparameters____________________________________5-65.7.2Savingandloadingparametersets___________________________5-75.7.3CopyandPaste__________________________________________5-75.7.4Verifyingparametersettings________________________________5-85.7.5Printingparametersets____________________________________5-85.7.6Write-protectedparameters_________________________________5-95.7.7Onlinemode____________________________________________5-95.7.8Offlinemode____________________________________________5-95.8CurveInspector______________________________________5-105.8.1UserinterfaceoftheCurveInspector________________________5-105.8.2OperationalelementsoftheCurveInspector__________________5-105.8.3CurveEditorinterface____________________________________5-135.8.4OperationalelementsoftheCurveEditors____________________5-145.8.5Creatingcurveswiththewizards___________________________5-165.8.6DefiningreferencecurvesinExcel__________________________5-175.9Oscilloscope__________________________________________5-185.9.1Settingtherecordingvariables_____________________________5-195.9.2Settingthetriggermode__________________________________5-195.9.3Determiningthesamplerate_______________________________5-205.9.4Adjustingthedisplay____________________________________5-215.9.5StartingandstoppingtheOscilloscope_______________________5-215.9.6Printingrecordedcurves__________________________________5-215.10ErrorInspector_______________________________________5-225.10.1OperationalelementsoftheErrorInspectors__________________5-225.11TutorialA:FirstSteps________________________________5-245.11.1Commissioningexample__________________________________5-245.12TutorialB:OperatingtheOscilloscope___________________5-255.12.1Creatingacurve________________________________________5-255.12.2Configuringtheelectronicunit_____________________________5-255.12.3Oscilloscopeconfigurationfortherecordingofthepositionsetvalue5-265.12.4Oscilloscopeconfigurationforthefollowingerrormonitoring____5-275.12.5Finalremark___________________________________________5-285.13TutorialC:Generatingreferencecurves_________________5-295.13.1"LinearOut"curve______________________________________5-305.13.2"Hold"curve___________________________________________5-325.13.3"JumpBack"curve______________________________________5-335.13.4Savingcurves__________________________________________5-345.13.5Mergingcurves_________________________________________5-345.13.6Writingcurvestotheelectronicunit________________________5-365.14TutorialD:DefiningcurveswithExcel___________________5-376.Parameters___________________________________________6-17.Service______________________________________________7-11.IntroductionThismanualisorganizedasfollows:Pleasetakeamomenttoreadandgetaccustomedwiththesafetyinstructions.Thisinformationisintendedforyourpersonalsafetyandshouldhelpinprotectingtheelectronicunitsandlinearmotorsfrompossibledamage.GivesanoverviewofthepropertiesandfeaturesofthesingleLinMot®componentsandtheiroperation.Hereyouwillfindadescriptionofthefunctionality,thedifferentoperationmodesandthetechnicaldataoftheelectronicunit.Further,theinterfacesandtheinstallationaredescribedinthischapter.ThisinformationhelpsyouoptimallyembedtheLinMot®productsinyourapplication.InthischapteryouwillgetaccustomedwiththefunctionalityandpossibilitiesofthePCsoftwarefortheconfigurationoftheLinMot®electronicunit.Further,youwillfindexamplesthatwillmakethefirstcommissioningofthesystemeasy.Thischaptergivesanin-depthdescriptionofalltheparameterstowhichyouhaveaccessduringtheconfigurationoftheLinMot®electronicunit.ExplainstheerrormessagesthataredisplayedbytheLEDsandhelpsyouinthetroubleshooting.SafetynotesSystemdescriptionDesignandinstallationConfigurationsoftwareParametersService1.1UsedsymbolsImportantnotesortipsinthismanualaremarkedwiththefollowingsymbols:Tips,notesUsefulinformationthatshouldmakeoperatingthedeviceseasierisgivenhere.CautionNonobservanceofthesewarningscanrepresentadangerforhealthorlifeandleadtodamageordestructionofthedevicesandotherobjects.StrongmagneticfieldsWarningaboutmagneticmaterialsthatcouldcausedamagetomagneticdatamediumslikediskettes,creditcards,etc.2.SafetynotesTheLinMot®lineardrivesareresourcesmeanttobebuiltintoanelectricalsystemsormachines.Duringoperationtheseresourceshavemovingpartsandhotsurfacesfromwhichadangerofhealthormaterialdamagecouldarise.Thecommissioning(puttingthedeviceintooperationasspecifiedintheapplicationofthelinearmotorsisprohibited,aslongasthemachinedoesnotcomplywiththerelevantsafetyprescriptions.Thoseresponsibleforthesafetyoftheplantormachinemustguaranteethatonlyqualifiedpersonalaccustomedtoworkingwithelectricaldriveequipmentisallowedtoworkonthedevicesinordertopreventandavoidinjuriestopersonsanddamagetotheequipment.Qualifiedpersonalarethosewho,asaresultoftheirtraining,experienceandinstructionaswellastheirknowledgeoftherelevantnorms,regulations,accidentpreventionprescriptionsandserviceconditionshavebeenentitledbytheresponsibleforthesafetyoftheplanttoexecutethenecessaryworkandtherebyrecognizeandpreventpossibledanger.Theoperationmanualaswellasanyfurthermanualsinthedocumentationoftheproductaretobefollowedconsequentlywhenexecutingtherespectiveoperations.OnlytestedandpotentialseparatedpowersuppliesareallowedtobeusedforthevoltagesupplyoftheLinMot®electronicunitsandotheraccessories.Theelectricalinstallationistobedoneaccordingtotherelevantprescriptions.Anyfurtherprescriptioncontainedinthedocumentationistobeobserved.Thelineardrivesmustbeprotectedfromloadsinexcessofthespecifications.Particularlyduringtransportationgreatcaremustbetakeninordertopreventexcessiveloadorevenbendingofanypart.Electronicdevicesarebasicallynotfail-safe.Theuserisresponsiblefordrivingthelineardriveinasafestateincaseofafailure.Insidetheslidersofthelinearmotorsarestrongpermanentmagnets.Thesecancausedamageorcorruptiontomagneticaldatamediumssuchasdiskettes,creditcards,etc.Thesesafetynotesimplynoclaimsregardingcompleteness.ForquestionsandproblemspleasecontactSulzerElectronicsAG.2.1InstallationThedrivesystemsdescribedinthisoperationmanualarecomponentsandnotserviceableorconnection-readydevicesormachinesintermsofthedevicesafetylaws,theEMClawsortheCEmachineryguidelines.Thecomponentsareintendedtobeembeddedinothermachines.Theultimatemodeofactionisonlydefinedoncethesecomponentshavebeenembeddedintheuser’smachineorplant.Theconformityoftheconstructionwiththeexistingprescriptionsandlawsliesunderthesoleresponsibilityoftheuser.ThecommissioningofthecomponentsisonlypermittedinmachinesorplantsthatcomplywiththeCEmachineryguidelinesand/orwiththerelevantsafetyprescriptionsoftherespectivecountry.SystemOverview3.SystemOverview3.1DrivesystemLinMot®LinMot®isamodularbuiltservodrivesystemthatcanbeoperatedas‘stand-alone’orinconnectionwithcommercialPLCs,PCsorotherhigher-levelcontrolsystems.LinMot®incorporatesthebasicideaoftheperipheraldriveelements:thereferencevaluesaregivendirectlybythehigher-levelcontrolsysteminformofpositionsetvalues,whiletheactualmotionprofilesandpositioncontrolarecalculatedandexecutedperipheralintheLinMot®electronicunit.MS-Windowsbasedconfigurationandcommissioningprogramsreleasetheengineersanddraftsmenfromelectrotechnicaldetailquestionsandallowforquickandfunctionorientedwork.AmongtheactuatorsconnectabletotheLinMot®electronicunits,theelectromagneticdirectlineardrivesLinMot®Ptakeaspecialposition,astheyoffercompletelynewpossibilitiesinthemachineconstructionandmechatronicsystemconcept.ThenotionsLinMot®StepandLinMot®MagnetrefertocomplementarydrivefamiliesconsistingofthecombinationofcommerciallyavailablesteppermotorsandmagnetsasactuatorsandLinMot®electronicunits.BothsteppermotorsandelectromagnetscanbeusedinmixedsystemconfigurationswiththeLinMot®lineardrives.Figure3-1:MixedsystemconfigurationconsistingoftwolinearmotorsLinMot®P,aLinMot®Eelectronicunitaswellasasteppermotorandanelectromagnet.3.1.1Actuator:LineardriveLinMot®PLinMot®Psareelectromagneticdirectlineardriveswithintegratedpositionsensingandbearing.LinMot®Plinearmotorsareintrinsicallyfreeofmechanicalplay,gearingorbeltwear.TheenormousdynamicpropertiesandcompactconstructionofLinMot®Pmakeavarietyofapplicationsandnovelconstructionspossible.Figure3-2:ElectromagneticdirectlinearmotorLinMot®P3.1.2Actuator:steppermotorLinMot®StepLinMot®Stepallowstheopen-loopoperationofcommerciallyavailabletwo-phasesteppermotorswithLinMot®Eelectronicunits.3.1.3Actuator:electromagnetLinMot®MagnetLinMot®Magnetallowstheintelligentcontrolofelectromagnetsasusedinshort-strokepositioningelementsorvalves.Comparedtotheconventionalvoltagecontrolledoperationofelectromagnets,thepull-inandreleasetimesofsuchelementscanbegreatlyreducedwiththeuseofLinMot®Magnet,bydrivingthemover-excitedduringthetransient.3.2LinMot®P:anewconstructionelementMostcommerciallyavailableservodrivesystemsonlydisposeofrotatingmotors,wherethespeedandinsomecasestheangularpositionarecontrolled.However,manyapplicationsdon’tonlyneedrotationalmovements,butlinearmovementstoo.Theconventionalsolutionistorealizemechanicalconstructionsbasedonlevers,camdisks,spindles,beltsetc.Inwhichtherotationalmovementoftheservomotoristranslatedinalinearmovement.Thiswaytheservodriveservesbasicallyasa‘controlledenergysource’.InthissensetheLinMot®Plineardrivesaremorethanjust‘controlledenergysources’:LinMot®Pexecutesdynamiccontrolledandpositioncontrolledlinearmovementsdirectly,withnoneedforadditionalmechanicalgearingelements.LinMot®Pfulfillsthemechatronicbasicideaaccordingtowhichthemovementfunctionsareexecuteddirectly,withminimalmechanicalelementsandrightintheplacewheretheyareneeded.Themotioncontrol,i.e.theactualmachinefunctionalityaswellasthemotionparametersaredefinedexclusivelyinthesoftwareandcanbeadjustedatanytimewithnoneedforinterventioninthemechanic.3.3SubstitutionpossibilitiesofLinMot®PDependingontheapplication,LinMot®Pcansubstitutethefollowingconventionalsolutionsandextendthemwithadditionalfunctionalityduetoitscompleteelectroniccontrol:SpindledrivesCamdisksMechanicalleversBeltdrivesPneumaticcylindersRack-and-piniondrives3.4TechnicalpropertiesofLinMot®PThelineardrivesLinMot®Parecharacterizedbythefollowingproperties:•ConnectiontocommerciallyavailablePLCandPCcontrolsystems•Positioncontrolledandcurve-drivenoperation•Dynamicpropertiesofthedriveadjustable(vmax,amax•Extremelyhighdynamicspecification(e.g.:continuouscyclicaloperation>15Hz•Compact,connection-readyconstructionwithintegratedsensingandbearing•Suitableforoperationinroughindustrialenvironments3.5ApplicationfieldsofLinMot®PThelineardrivesLinMot®Pcanbeusedbothasstand-alonesystemsorinconnectionwithhighlycomplexmachines.Thefollowinglistofapplicationexamplesisthereforenotcompleteandgivesonlyaninsightinthevarietyofthepossibleapplications:•TextilemachinesWeavingmachines,knittingmachines,carpetmachines,windingmachines•PackagingmachinesFood:pastries,coffee,tee,sweetsConsumergoods:officematerial,toysCosmetics:soap,tubesPharmaceutical:tablets,pills•PrintingmachinesOffsetandtamponprintingmachines•Assemblysystems•Windingmachines•Handlingmachines•Robotics•Laboratoryautomation•Foldingmachines•Labelingmachines•Newspaperandpapermachines•SortingmachineryParcelandlettersortingsystems,materialsortingmachines•….3.6DrivingandoperatingmodesofLinMot®3.6.1DrivingconceptThebasicideaofLinMot®Pconsistsinhavingthecontroltasksexecutedasperipheralaspossibleinordertofreethehigher-levelcontrolsystemsfromunnecessaryandcalculation-intensiveballast.Thesystemconfigurationisthereforeaccordinglysimple,asthehigher-levelcontrolsystemjustoutputstheactualtargetvalueandmonitorssomefeedbackinformation.ThefollowingsectionswillimplicitlyrefertoLinMot®Plinearmotorsasactuatorswhennospecificindicationisprovided.Inthiscasethetargetvalueconsistsinthepositionsetvaluetowhichthedrivesshouldmove,whilethefeedbackinformationtypicallyrepresentsafollowingerrormessage.Inthecaseofsteppermotorsandelectromagnetsthesestatementscanbeinterpretedbyanalogy.Ref.positionErrormessageSignalcircuitrysupplyPowercircuitrysupplyFigure3-3:LinMot®’speripheralpositioncontrolfreesthehigher-levelcontrolsystemfromcalculationintensivetasks.3.6.2OperationmodesDifferentmodesofoperationareavailabletotheuser.Theseallowoptimalembeddingoftheactuatorsinthecontrolconceptofthemachineandtherespectiveapplication.TheLinMot®ATsoftwarecurrentlysupportsthefollowingmodesofoperation:•directdigitalreferencevaluesetting•settingtwotargetvaluesdependingonahigh/lowsignal•executingtwopredefinedcurvesbasedonatriggersignal•continuousoperation,e.g.periodicalexecutionofacurveInallthesemodesafiltercanbeconnectedinordertolimitthederivedsignalslikeforexamplethespeedoracceleration.Thefollowingtableshowstypicalapplicationexamplesforthedifferentmodesofoperation.3.6.3Connectiontohigher-levelcontrolsystemsTheelectronicunitsLinMot®Ecanbecontrolledbyhigher-levelcontrolsystemsdirectlybymeansofanalogordigitalinput/outputsignallines.ThenecessaryparameterisationisdonewiththeLinMot®TalksoftwareviaanRS-232connection.NetworkingviaCAN-busorRS-232isalsopossibleonspecificcustomerrequest.Figure3-4:ConnectingLinMot®toanhigher-levelcontrolsystem3.7Protectionanderrorbehavior3.7.1InternalprotectionfunctionsTheintegratedsensorsandcomplexmonitoringprogramsallowthedetectionandhandlingofthermaloverloadingoftheLinMot®EandPcomponentsbymeansofwarningand/orerrormessages.ThereisfurtherthepossibilitytomonitorthevoltagesupplyoftheLinMot®Eelectronicunitsforovervoltageandundervoltage.Ifthehigher-levelcontrolsystemdoesnotrespondtothewarninganderrormessages,theactuatorswillbeshutdownforsafetyreasons.3.7.2MonitoringfunctionsTheso-calledfollowingerrormonitoringandthepositionrangemonitoringoffertwopowerfulfunctionsforthemonitoringoftheactualmovementprocesses.FollowingerrormonitoringPositionrangemonitoring3.7.3EmergencystoppossibilitiesFromthepointofviewofthehigher-levelcontrolsystemtherearetwowaystohandletheLinMot®actuatorsincaseofanemergencystop:•Withtheso-calledFREEZEsignalthedrivescanbestoppedandmaintainedintheircurrentposition.ThemovementisresumedwhentheFREEZEsignalbecomesinactiveagain.•BymeansoftheSTOPsignalthedrivescanbedriventoapredefinedemergencystoppositionorshutdown.3.7.4EmergencystopthroughsupplyinterruptionAstheLinMot®electronicunitsfeatureseparatesuppliesforthesignalcircuitryandthepowercircuitry,anemergencystopcanalsobeforcedbydirectlyinterruptingthepowersupplytothepowercircuits.Aslongasthesignalcircuitryremainspowered,theinitializationandactualpositionoftheLinMot®Pactuatorsarenotlost.Thereforeitispossibletoresumeoperationwithoutneedingtore-initializethedrives.3.8Operationandconfiguration3.8.1SystemconfigurationTheconfigurationandcommissioningoftheLinMot®systemsisdonebymeansoftheMS-WindowsbasedsoftwareLinMot®Talk.Alltheparameterscanbedisplayedclearly,selectedandeditedwithLinMot®Talkbysimpleclickingwiththemouse.Asalltheparametersarestoredintheelectronicunit,theycanberecalled,analyzedandchangedatanytime.Creatingduplicatesofparametersandparameterfilestobearchivedisequallyeasy.Passwordprotectionprotectsthedatafromillegitimateaccess.Figure3-5:ParameterInspectorwindowPrintPathActualparameterValueoftheparameterUpdatebutton3.8.2CurvegenerationPredefinedreferencecurvescanbeexecutedontriggersignalsindifferentoperatingmodes.TheshapesofthesecurvescanbegeneratedautomaticallybymeansoftheCurveCreator,orcanbeeditedmanuallypointbypointasExceltables.EditbuttonsClosebuttonsGraphbuttonsFigure3-6:Referencecurvescanbegeneratedsemi-automatically3.8.3Monitoringfunction(digitalOscilloscopeQuickcommissioningandoptimizationofaLinMot®systemissupportedbythebuilt-inmonitoringfunction.Withit,thereferencecurvescanbecomparedwiththemovementsactuallyexecutedwithnoneedforadditionalsensors,etc.Thedifferencesbetweenthetwocurvescangiveindirecthintsoncounteractingforcesandfrictionforceswhichcanbeusefulwhenadjustingthecontrollerparameters.Theoperationandlookofthemonitoringfunctioncorrespondtothoseofmoderndigitaloscilloscopes.Figure3-7:MotionanalysiswiththeintegrateddigitalOscilloscopeVariablespanelTriggerpanelSampleratepanelDisplaypanel3.8.4ErrorlogbookThankstothesystemclockbuiltintheLinMot®Eelectronicunitstheerrorsthathaveoccurredduringoperationcanbeloggedonatimebasis.Theinformationisstoredinthenonvolatilememoryandallowsalaterreconstructionoftheevents.Figure3-8:Errormessagesaresavedtothelogbookforlateranalysis.3.9CustomerspecificapplicationsThegoalinthebasicphilosophyofLinMot®istobeabletocoverthebroadestrangeofapplicationssimplybyconfiguringthebasicsystem,withoutspecialcustomerspecificadjustments.Insomecases(bigseries,specialsystemenvironmentshowevercustomerspecificadjustmentscanmakesense.Inthesecasesthenecessaryinterventionshavetobecarriedoutbythemanufacturer.Inmostcasesthecustomerspecificchangeswillberealizedinthesoftwareoftheelectronicunit(‘CustomizedApplicationSoftware’.Inmostcasesthiswillrelatetothefollowingtworequirements:•Additionalcontrolfunctions•Networkingwithcustomerspecificbussystems(CAN-Bus,RS-232Figure3-9:StructureoftheLinMot®software:Themanufacturercanrealizespecialcustomizationsinaspecialsoftwaresegment(‘CustomizedApplicationSoftware’.4.DesignandInstallationThischapterdiscussesthedifferentpossibilitiesfordrivingtheLinMot®productsfromahigher-levelcontrolsystemaswellastheoperatingstatesofthecontrolelectronicunitindetail.Further,theinterfacesandtheinstallationaredescribedinordertogetfamiliarwiththepossibilitiesoftheLinMot®productsandbeabletooptimallyembedthemintheapplication.ThischaptershowsthebasicfunctionsoftheLinMotsystemexplainingthe–ATfunctionalityasanintroduction.Forextendedfunctionalityof–MTand–DPelectronicunits,pleasereadthemanualforSWRel.OperatingmodesAwiderangeofoperatingmodesareavailablefordriving(settingthereferencevaluestheactuatorsconnectedtotheelectronicunit.Thedesiredsetvaluescanbegivendirectlythroughananaloginterface,orelsetheycanbestoredintheelectronicunitinformofcurvesandtables,thatcanberunonadigitaltriggersignalfromthehigher-levelcontrolsystem.Figure4-1:OperatingmodesoftheLinMotelectronicunitAdetaileddescriptionoftheoperatingmodesthatcanbeconfiguredforeachconnectedmotorindividuallyisgiveninthefollowingchapters.TheoperatingmodesdifferaccordingtothedifferentactuatorslinearmotorLinMot®P,steppermotorandinductiveload(magnet,valve,...andarethereforetreatedseparately.4.1.1AnalogpositionsettingIntheoperatingmode“Analogpositionsetting”thedesiredpositionsetvaluefortheactuatorisgivenbythehigher-levelcontrolsystemdirectlybymeansofananaloginputsignalinthe0-10Vrange.TheresolutionoftheinternalA/Dconverteris10bit.Thedesiredpositionsetvalueofthesliderisgivenbythehigher-levelcontrolsystemdirectlybymeansofananaloginputsignal.Intheelectronicunitastrokerangecanbefreelydefined,thatwillcorrespondtothe0-10Vrangeoftheanalogsignalfromtheinterface.Figure4-2:AnalogpositiondefinitionInapplicationswherethemovementhastobeexecutedwithacontrolledacceleration,theenormou